First template for actuators

Test it with: morse add actuator <name> <env>

Demonstrate a synchronous service and an asynchronous one

Current implementation of default_action is not great (looks
more like a sensor)

bin/morse.in

@@ -16,7 +16,7 @@ formatter = logging.Formatter("* %(message)s\n")
 log_handler.setFormatter(formatter)
 
 logger.addHandler(log_handler)
-logger.setLevel(logging.DEBUG)
+logger.setLevel(logging.INFO)
 ##
 
 try:
@@ -539,7 +539,8 @@ def add_component(args):
     except MorseEnvironmentError as e:
         logger.error("%s" % e)
         sys.exit(1)
-    logger.info("A new %s called <%s> has been added to <%s>." % (type, name, args.env))
+
+    logger.debug("A new %s called <%s> has been added to <%s>." % (type, name, args.env))
 
 
 def prelaunch():

data/templates/src/@env@/actuators/@name@.py.tpl

@@ -0,0 +1,62 @@
+import logging; logger = logging.getLogger("morse." + __name__)
+
+import morse.core.actuator
+
+from morse.core.services import service, async_service, interruptible
+from morse.core import status
+from morse.helpers.components import add_data, add_property
+
+class @classname@(morse.core.actuator.Actuator):
+    _name = "@classname@"
+    _short_desc = "@shortdesc@"
+
+    # define here the data fields required by your actuator
+    # format is: field name, initial value, type, description
+    add_data('counter', 0, 'int', 'A dummy counter, for testing purposes')
+
+    def __init__(self, obj, parent=None):
+        logger.info("%s initialization" % obj.name)
+        # Call the constructor of the parent class
+        super(self.__class__, self).__init__(obj, parent)
+
+        # Do here actuator specific initializations
+
+        self._target_count = 0 # dummy internal variable, for testing purposes
+
+        logger.info('Component initialized')
+
+    @service
+    def get_counter(self):
+        """ This is a sample service.
+
+        Simply returns the value of the internal counter.
+
+        You can access it as a RPC service from clients.
+        """
+        logger.info("%s counter is %s" % (self.name, self.local_data['counter']))
+
+        return self.local_data['counter']
+
+    @interruptible
+    @async_service
+    def async_test(self, value):
+        """ This is a sample asynchronous service.
+
+        Returns when the internal counter reaches ``value``.
+
+        You can access it as a RPC service from clients.
+        """
+        self._target_count = value
+
+    def default_action(self):
+        """ Main loop of the actuator.
+
+        Implements the component behaviour
+        """
+
+        # check if we have an on-going asynchronous tasks...
+        if self._target_count and self.local_data['counter'] > self._target_count:
+            self.completed(status.SUCCESS, self.local_data['counter'])
+
+        # implement here the behaviour of your actuator
+        self.local_data['counter'] += 1

data/templates/src/@env@/builder/actuators/@name@.py.tpl

@@ -0,0 +1,8 @@
+from morse.builder.creator import ActuatorCreator
+
+class @classname@(ActuatorCreator):
+    def __init__(self, name=None):
+        ActuatorCreator.__init__(self, name, \
+                                 "@env@.actuators.@name@.@classname@",\
+                                 "@name@")
+

data/templates/src/@env@/robots/@name@.py.tpl

@@ -5,10 +5,12 @@ class @classname@(morse.core.robot.Robot):
     """ Class definition for the @name@ robot."""
 
     def __init__(self, obj, parent=None):
-        """ Constructor method.
-            Receives the reference to the Blender object.
-            Optionally it gets the name of the object's parent,
-            but that information is not currently used for a robot. """
+        """ Constructor method
+
+        Receives the reference to the Blender object.
+        Optionally it gets the name of the object's parent,
+        but that information is not currently used for a robot.
+        """
 
         logger.info('%s initialization' % obj.name)
         super(self.__class__,self).__init__(obj, parent)

src/morse/environments.py

@@ -62,8 +62,8 @@ def pyprint(code):
 ###################
 
 NEW_ROBOT_MSG = ["""
-A template for a new robot called <{name}> has been added to the 
-<{env}> environment.
+A template for a new robot called <{name}> has been 
+added to the <{env}> environment.
 
 ----------------------------------------------------------
 To complete the equipment of your robot, edit:
@@ -92,6 +92,59 @@ def pyprint(code):
 Happy simulation!
 """]
 
+NEW_ACTUATOR_MSG = ["""
+A template for a new actuator called <{name}> has been 
+added to the <{env}> environment.
+
+----------------------------------------------------------
+Edit {prefix}/src/actuators/{name}.py to implement the
+behaviour of your actuator.
+
+----------------------------------------------------------
+To use it on your robot, edit your robot description in
+{prefix}/src/builder/robots/
+and add these lines:
+
+""", ("""from {env}.builder.actuators import {classname}
+
+# create a new {name} actuator
+{name} = {classname}()
+
+robot.append({name})
+
+""", 'python'),
+"""----------------------------------------------------------
+Happy simulation!
+"""]
+
+NEW_SENSOR_MSG = ["""
+A template for a new sensor called <{name}> has been 
+added to the <{env}> environment.
+
+----------------------------------------------------------
+Edit {prefix}/src/sensors/{name}.py to implement the
+behaviour of your sensor.
+
+----------------------------------------------------------
+To use it on your robot, edit your robot description in
+{prefix}/src/builder/robots/
+and add these lines:
+
+""", ("""from {env}.builder.sensors import {classname}
+
+# create a new {name} sensor
+{name} = {classname}()
+
+robot.append({name})
+
+""", 'python'),
+"""----------------------------------------------------------
+Happy simulation!
+"""]
+
+
+#################################################################
+
 class Environment():
 
     def __init__(self, morse_prefix, env_name, env_path = None):
@@ -223,7 +276,7 @@ def add_component(self, cmpttype, name):
 
         safename = self._make_safe_name(name)
         if safename != name:
-            logger.warning("Replace name <%s> by suitable identifier: "
+            logger.warning("Replaced name <%s> by suitable identifier: "
                            "<%s>" % (name, safename))
 
         if cmpttype == "robot":
@@ -238,8 +291,28 @@ def add_component(self, cmpttype, name):
                                  classname = safename.capitalize(), \
                                  env = self.env)
         elif cmpttype == "sensor":
-            self._install_files(SENSOR, name = safename)
+            desc = input("Enter a short description for sensor <%s>: " % safename)
+            self._install_files(SENSOR, \
+                                name = safename, \
+                                classname = safename.capitalize(), \
+                                env = self.env, \
+                                shortdesc = desc)
+            self._print_info_msg(NEW_SNESOR_MSG, \
+                                 prefix= self.abspath, \
+                                 name = safename, \
+                                 classname = safename.capitalize(), \
+                                 env = self.env)
         elif cmpttype == "actuator":
-            self._install_files(ACTUATOR, name = safename)
+            desc = input("Enter a short description for actuator <%s>: " % safename)
+            self._install_files(ACTUATOR, \
+                                name = safename, \
+                                classname = safename.capitalize(), \
+                                env = self.env, \
+                                shortdesc = desc)
+            self._print_info_msg(NEW_ACTUATOR_MSG, \
+                                 prefix= self.abspath, \
+                                 name = safename, \
+                                 classname = safename.capitalize(), \
+                                 env = self.env)
         else:
             raise MorseEnvironmentError("Unknown component type %s" % cmpttype)